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<a href="#nested-classes">Data Structures</a> &#124;
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<p>This group contain table of system definitions.  
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Data Structures</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcommand__structure.html">command_structure</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structproc__func__info.html">proc_func_info</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structstate__t__info.html">state_t_info</a></td></tr>
<tr><td colspan="2"><h2><a name="define-members"></a>
Defines</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gac644d2e05254dadd0b19a93c12c0afd9">UPDATE_BUFFER</a>&#160;&#160;&#160;0x04</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga88f8e60882c5d69d913d1b616687465d">INITIAL_ALIGNMENT</a>&#160;&#160;&#160;0x05</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gaec182aad2e49484d086d38c7ed1f9fe4">MECHANIZATION</a>&#160;&#160;&#160;0x06</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga72e2455cf02251f80606a36183764cd1">TIME_UPDATE</a>&#160;&#160;&#160;0x07</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga2ea883c0ff4e6a5d37f32290ab3524b7">ZUPT_DETECTOR</a>&#160;&#160;&#160;0x08</td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga5f00f42fc2574820abde7c7dd797a036">GYRO_CALIBRATION</a>&#160;&#160;&#160;0x10</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga8b4361d794c38610770d0078d5a581f3">ACCELEROMETER_CALIBRATION</a>&#160;&#160;&#160;0x11</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gaeadb9947c80d097da4413c55179afe6f">SID_LIMIT</a>&#160;&#160;&#160;0xFF</td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gad0a37f572243f76ea1f2b79fc14b2a30">IMU_SUPPLY_VOLTAGE_SID</a>&#160;&#160;&#160;0x34</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gaf0c693bf22229a5eba03b2bad37b07bf">ACCELEROMETER_BIASES_SID</a>&#160;&#160;&#160;0x35</td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga0c546b02615dc75cdf2385651cc823ce">retransmit_header</a> (uint8_t **)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga63c90fa711213e6746dc061226580e1a">retransmit_command_info</a> (uint8_t **)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga154e99940eadddeab0a978ebaaf4af29">output_state</a> (uint8_t **)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gaf49fcc59b85d00300cceac3381af50ac">turn_off_output</a> (uint8_t **)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga144f167d203bfaa934388244862c2e66">get_mcu_serial</a> (uint8_t **)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga18b9c076238f0421e0c613aba24c1e96">toggle_inertial_output</a> (uint8_t **)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gade63f6b7485456459a562107079a76a8">position_plus_zupt</a> (uint8_t **)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga73d5a4fdd7dbdf0707007e03b69dd7aa">output_navigational_states</a> (uint8_t **)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga2f8eeda3ee360ccf29e05fbfda016f47">processing_onoff</a> (uint8_t **)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gae59981ff1a5486c063329824f812d6ef">reset_zupt_aided_ins</a> (uint8_t **)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga208e711393802848a2f84f913ef3cb84">gyro_self_calibration</a> (uint8_t **)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga29fdeaec38ab911e7c4a5ffd19dc178d">acc_calibration</a> (uint8_t **)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gaae1bbd924940610e1709300d40ca5a0f">update_imu_data_buffers</a> (void)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga8b0f8dc8c2ae1ff3f5e4f27284cf8e77">initialize_navigation_algorithm</a> (void)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga9169808fbcb9f517deb908960a69ca7a">strapdown_mechanisation_equations</a> (void)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gac80ad2aa648edb47edb8f62883cb2a7d">time_up_data</a> (void)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gaf0b7424f50d37755b6b0736808082299">ZUPT_detector</a> (void)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga0b4ee34435eebb426eb367120ee79d72">zupt_update</a> (void)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga71833d5eb4e7c71baaaa9e707a6c1f8d">precision_gyro_bias_null_calibration</a> (void)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gabb3f28a44a35898c77d789734914c4c2">calibrate_accelerometers</a> (void)</td></tr>
<tr><td colspan="2"><h2><a name="var-members"></a>
Variables</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga133713acbe60983f171f71e2d81fae3f">proc_func_info::id</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void(*&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gab0d228e3d6f56666fb9d9bf0f25f8d7b">proc_func_info::func_p</a> )(void)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga128ad5d7538eef603b5f0dab9c42174b">proc_func_info::max_proc_time</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structproc__func__info.html">proc_func_info</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga41846acfd74bdde84b592227e9875931">processing_functions</a> []</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="nav__types_8h.html#a90c683614d896321009d3b3c401b764f">vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga2807b9fb4b79e01dfde022b613d2575f">position</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Position estimate (North,East,Down) [ <img class="formulaInl" alt="$m$" src="form_20.png"/>].  <a href="#ga2807b9fb4b79e01dfde022b613d2575f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="nav__types_8h.html#a90c683614d896321009d3b3c401b764f">vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga589efe00d8bd4e8a69613f98390a04c7">velocity</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Velocity estimate (North,East,Down) [ <img class="formulaInl" alt="$m/s$" src="form_24.png"/>].  <a href="#ga589efe00d8bd4e8a69613f98390a04c7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="nav__types_8h.html#a90c683614d896321009d3b3c401b764f">vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gaf92cab44915b7d9faaf5aeadb328bae6">accelerations_in</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight"><img class="formulaInl" alt="$[m/s^2]$" src="form_13.png"/>  <a href="#gaf92cab44915b7d9faaf5aeadb328bae6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="nav__types_8h.html#a90c683614d896321009d3b3c401b764f">vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga8cac4b2812dcb492989d7122c5eb0bfb">angular_rates_in</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight"><img class="formulaInl" alt="$[rad/s]$" src="form_14.png"/>  <a href="#ga8cac4b2812dcb492989d7122c5eb0bfb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga1c7df51cd44a9862d56e5a86a7382fe2">window_size</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga20193da701b182264e8b7bf63293c0f9">time_since_last_zupt</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga69242006691a47df6ea85e8cc45ccc43">process_cycle_counter</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="nav__types_8h.html#ad9a64f455fa02affaba6740746aae7b2">quat_vec</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga059b83d370e7e6a5e9728a8f91943051">quaternions</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Attitude (quaternions) estimate.  <a href="#ga059b83d370e7e6a5e9728a8f91943051"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gabd51dc1d49060099533807a22acc61d4">zupt</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Flag that is set to true if a zero-velocity update should be done.  <a href="#gabd51dc1d49060099533807a22acc61d4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="nav__types_8h.html#a90c683614d896321009d3b3c401b764f">vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gacd438fa96131e9024d8ad206d83ffb66">imu_temperaturs</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight"><img class="formulaInl" alt="$[^circ C]$" src="form_15.png"/>  <a href="#gacd438fa96131e9024d8ad206d83ffb66"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="nav__types_8h.html#a37e1884b1f06826c49607cec459b4e8a">precision</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga3f561003deb253bcc716a6c690c87cfe">imu_supply_voltage</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight"><img class="formulaInl" alt="$[V]$" src="form_16.png"/>  <a href="#ga3f561003deb253bcc716a6c690c87cfe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="nav__types_8h.html#a90c683614d896321009d3b3c401b764f">vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga1089eea940f41eff26a6cba1172089e9">accelerometer_biases</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Accelerometer biases (x,y,z-axis) [ <img class="formulaInl" alt="$m/s^2$" src="form_17.png"/>].  <a href="#ga1089eea940f41eff26a6cba1172089e9"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
IMU output variables</h2></td></tr>
<tr><td class="ititle" colspan="2"><p><a class="anchor" id="amgrpbcd3569385d38499cae6e78a31cdccc1"></a> Global variable used for making sensor readings available to other parts of the program. The variables will contain the latest read out sensor readings. The values are scaled to SI units apart from the temperature which is in <img class="formulaInl" alt="$^circ C$" src="form_12.png"/>. Angels are given in radians. </p>
</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="nav__types_8h.html#a90c683614d896321009d3b3c401b764f">vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga8cac4b2812dcb492989d7122c5eb0bfb">angular_rates_in</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight"><img class="formulaInl" alt="$[rad/s]$" src="form_14.png"/>  <a href="#ga8cac4b2812dcb492989d7122c5eb0bfb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="nav__types_8h.html#a90c683614d896321009d3b3c401b764f">vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gacd438fa96131e9024d8ad206d83ffb66">imu_temperaturs</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight"><img class="formulaInl" alt="$[^circ C]$" src="form_15.png"/>  <a href="#gacd438fa96131e9024d8ad206d83ffb66"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="nav__types_8h.html#a37e1884b1f06826c49607cec459b4e8a">precision</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga3f561003deb253bcc716a6c690c87cfe">imu_supply_voltage</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight"><img class="formulaInl" alt="$[V]$" src="form_16.png"/>  <a href="#ga3f561003deb253bcc716a6c690c87cfe"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
Accelerometer calibration parameters.</h2></td></tr>
<tr><td class="ititle" colspan="2"><p><a class="anchor" id="amgrp498a39b5e61b8b18fd67982a4b1746b8"></a> Parameters controlling accelerometer calibration, and vectors and matrices used store the biases. </p>
</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="nav__types_8h.html#a37e1884b1f06826c49607cec459b4e8a">precision</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gad5049be4d6ed3b9f92063c6ca6413b46">acceleration_variance_threshold</a> = 0.002</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Threshold used to check that accelerometers were stationary during the calibration [ <img class="formulaInl" alt="$(m/s^2)^2$" src="form_18.png"/>].  <a href="#gad5049be4d6ed3b9f92063c6ca6413b46"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gab9d05ce5927a225127eff6993856da19">nr_of_calibration_samples</a> = 800</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of samples used at each orientation in the calibration procedure.  <a href="#gab9d05ce5927a225127eff6993856da19"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga642a3ad33a0242f4e12fe46a13b0303f">nr_of_calibration_orientations</a> = 6</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of orientations used in the accelerometer calibration procedure. OBS! Most be at least 3 and less than 13.  <a href="#ga642a3ad33a0242f4e12fe46a13b0303f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">Bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga9340627920ea2445fe1469547bc64eae">new_orientation_flag</a> = false</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Flag that is set to true when the IMU should be place in a new orientation. Should be set to false when the calibration procedure is started, and when the IMU has been placed in a new orientation by the user.  <a href="#ga9340627920ea2445fe1469547bc64eae"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">Bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gaa3b35b0b909a9a4b40d82658fab54349">acc_calibration_finished_flag</a> = false</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Flag that is set to true when the calibration is finished. Must be set to false before the calibration is started.  <a href="#gaa3b35b0b909a9a4b40d82658fab54349"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
Navigation and filter state variables.</h2></td></tr>
<tr><td class="ititle" colspan="2"><p><a class="anchor" id="amgrp0f8fa76f99fe991372a251de33492bc0"></a> Vectors that holds the current navigation state estimate and the covariance and gain of the Kalman filter. </p>
</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="nav__types_8h.html#a90c683614d896321009d3b3c401b764f">vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga589efe00d8bd4e8a69613f98390a04c7">velocity</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Velocity estimate (North,East,Down) [ <img class="formulaInl" alt="$m/s$" src="form_24.png"/>].  <a href="#ga589efe00d8bd4e8a69613f98390a04c7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="nav__types_8h.html#ad9a64f455fa02affaba6740746aae7b2">quat_vec</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga059b83d370e7e6a5e9728a8f91943051">quaternions</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Attitude (quaternions) estimate.  <a href="#ga059b83d370e7e6a5e9728a8f91943051"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="nav__types_8h.html#ab7675278cb555aa98b43c97694753329">mat3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga42753cbc9ae76483da3cbc331a011586">Rb2t</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Rotation matrix used as an "aiding" variable in the filter algorithm. Holds the same information as the quaternions.  <a href="#ga42753cbc9ae76483da3cbc331a011586"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="nav__types_8h.html#a0f4089eb3ad75e0675d7f7d3914fddeb">mat9sym</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#ga74c09cdfc5b901e7f842dbe42ed8f4f4">cov_vector</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Vector representation of the Kalman filter covariance matrix.  <a href="#ga74c09cdfc5b901e7f842dbe42ed8f4f4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="nav__types_8h.html#af1d09a15760e21f5de26f0839f1b6c62">mat9by3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__tables.html#gac1df051c6f380aa8d1598b15ee9e6eca">kalman_gain</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Vector representation of the Kalman filter gain matrix.  <a href="#gac1df051c6f380aa8d1598b15ee9e6eca"></a><br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<p>This group contain table of system definitions. </p>
<hr/><h2>Define Documentation</h2>
<a class="anchor" id="gaf0c693bf22229a5eba03b2bad37b07bf"></a><!-- doxytag: member="system_states.h::ACCELEROMETER_BIASES_SID" ref="gaf0c693bf22229a5eba03b2bad37b07bf" args="" -->
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<a class="anchor" id="ga8b4361d794c38610770d0078d5a581f3"></a><!-- doxytag: member="processing_functions.h::ACCELEROMETER_CALIBRATION" ref="ga8b4361d794c38610770d0078d5a581f3" args="" -->
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<a class="anchor" id="ga4bae6e7de487043575d61cb52dff4cf3"></a><!-- doxytag: member="system_states.h::ANGULAR_RATE_SID" ref="ga4bae6e7de487043575d61cb52dff4cf3" args="" -->
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<a class="anchor" id="ga5f00f42fc2574820abde7c7dd797a036"></a><!-- doxytag: member="processing_functions.h::GYRO_CALIBRATION" ref="ga5f00f42fc2574820abde7c7dd797a036" args="" -->
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<a class="anchor" id="gad0a37f572243f76ea1f2b79fc14b2a30"></a><!-- doxytag: member="system_states.h::IMU_SUPPLY_VOLTAGE_SID" ref="gad0a37f572243f76ea1f2b79fc14b2a30" args="" -->
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          <td class="memname">#define IMU_SUPPLY_VOLTAGE_SID&#160;&#160;&#160;0x34</td>
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<a class="anchor" id="gad5186a188194306bbc87ddddc7644ddd"></a><!-- doxytag: member="system_states.h::IMU_TEMPERATURS_SID" ref="gad5186a188194306bbc87ddddc7644ddd" args="" -->
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<a class="anchor" id="ga88f8e60882c5d69d913d1b616687465d"></a><!-- doxytag: member="processing_functions.h::INITIAL_ALIGNMENT" ref="ga88f8e60882c5d69d913d1b616687465d" args="" -->
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          <td class="memname">#define INITIAL_ALIGNMENT&#160;&#160;&#160;0x05</td>
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<a class="anchor" id="gaec182aad2e49484d086d38c7ed1f9fe4"></a><!-- doxytag: member="processing_functions.h::MECHANIZATION" ref="gaec182aad2e49484d086d38c7ed1f9fe4" args="" -->
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<a class="anchor" id="gaafd3e23709eecfd5bfdc358f8a07b991"></a><!-- doxytag: member="system_states.h::POSITION_SID" ref="gaafd3e23709eecfd5bfdc358f8a07b991" args="" -->
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<a class="anchor" id="gacc410e7c7f1185c5dd50ac503dccabbe"></a><!-- doxytag: member="system_states.h::PROCESS_CYCLE_COUNTER_SID" ref="gacc410e7c7f1185c5dd50ac503dccabbe" args="" -->
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<a class="anchor" id="gae1fc29b0358f36a68b7ba9bde85e16fd"></a><!-- doxytag: member="system_states.h::QUATERNION_SID" ref="gae1fc29b0358f36a68b7ba9bde85e16fd" args="" -->
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<a class="anchor" id="gaeadb9947c80d097da4413c55179afe6f"></a><!-- doxytag: member="system_states.h::SID_LIMIT" ref="gaeadb9947c80d097da4413c55179afe6f" args="" -->
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<a class="anchor" id="gae04e393e8b250dad55fddb546ef61111"></a><!-- doxytag: member="system_states.h::SPECIFIC_FORCE_SID" ref="gae04e393e8b250dad55fddb546ef61111" args="" -->
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<a class="anchor" id="gadc587c273985fd12fc0553141c5f9693"></a><!-- doxytag: member="system_states.h::TIME_SINCE_LAST_ZUPT_SID" ref="gadc587c273985fd12fc0553141c5f9693" args="" -->
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<a class="anchor" id="ga72e2455cf02251f80606a36183764cd1"></a><!-- doxytag: member="processing_functions.h::TIME_UPDATE" ref="ga72e2455cf02251f80606a36183764cd1" args="" -->
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<a class="anchor" id="gac644d2e05254dadd0b19a93c12c0afd9"></a><!-- doxytag: member="processing_functions.h::UPDATE_BUFFER" ref="gac644d2e05254dadd0b19a93c12c0afd9" args="" -->
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<a class="anchor" id="ga6b3256a3e116aaefe13352f9b493c279"></a><!-- doxytag: member="system_states.h::VELOCITY_SID" ref="ga6b3256a3e116aaefe13352f9b493c279" args="" -->
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<a class="anchor" id="ga1e61a3b04f0d9e2a1393e85a047a24ab"></a><!-- doxytag: member="system_states.h::WINDOW_SIZE_PID" ref="ga1e61a3b04f0d9e2a1393e85a047a24ab" args="" -->
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<a class="anchor" id="ga1c2e91b10f17814f52bf09f647909d83"></a><!-- doxytag: member="system_states.h::ZUPT_SID" ref="ga1c2e91b10f17814f52bf09f647909d83" args="" -->
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<hr/><h2>Function Documentation</h2>
<a class="anchor" id="ga29fdeaec38ab911e7c4a5ffd19dc178d"></a><!-- doxytag: member="commands.h::acc_calibration" ref="ga29fdeaec38ab911e7c4a5ffd19dc178d" args="(uint8_t **)" -->
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          <td class="memname">void acc_calibration </td>
          <td>(</td>
          <td class="paramtype">uint8_t **&#160;</td>
          <td class="paramname"></td><td>)</td>
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<a class="anchor" id="gabb3f28a44a35898c77d789734914c4c2"></a><!-- doxytag: member="processing_functions.h::calibrate_accelerometers" ref="gabb3f28a44a35898c77d789734914c4c2" args="(void)" -->
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          <td class="memname">void calibrate_accelerometers </td>
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          <td class="paramtype">void&#160;</td>
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<a class="anchor" id="ga144f167d203bfaa934388244862c2e66"></a><!-- doxytag: member="commands.h::get_mcu_serial" ref="ga144f167d203bfaa934388244862c2e66" args="(uint8_t **)" -->
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          <td class="memname">void get_mcu_serial </td>
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          <td class="paramtype">uint8_t **&#160;</td>
          <td class="paramname"></td><td>)</td>
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<a class="anchor" id="ga208e711393802848a2f84f913ef3cb84"></a><!-- doxytag: member="commands.h::gyro_self_calibration" ref="ga208e711393802848a2f84f913ef3cb84" args="(uint8_t **)" -->
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          <td class="memname">void gyro_self_calibration </td>
          <td>(</td>
          <td class="paramtype">uint8_t **&#160;</td>
          <td class="paramname"></td><td>)</td>
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<a class="anchor" id="ga8b0f8dc8c2ae1ff3f5e4f27284cf8e77"></a><!-- doxytag: member="processing_functions.h::initialize_navigation_algorithm" ref="ga8b0f8dc8c2ae1ff3f5e4f27284cf8e77" args="(void)" -->
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          <td class="memname">void initialize_navigation_algorithm </td>
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<a class="anchor" id="ga73d5a4fdd7dbdf0707007e03b69dd7aa"></a><!-- doxytag: member="commands.h::output_navigational_states" ref="ga73d5a4fdd7dbdf0707007e03b69dd7aa" args="(uint8_t **)" -->
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          <td class="memname">void output_navigational_states </td>
          <td>(</td>
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<a class="anchor" id="gaf0b7424f50d37755b6b0736808082299"></a><!-- doxytag: member="processing_functions.h::ZUPT_detector" ref="gaf0b7424f50d37755b6b0736808082299" args="(void)" -->
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<hr/><h2>Variable Documentation</h2>
<a class="anchor" id="gaa3b35b0b909a9a4b40d82658fab54349"></a><!-- doxytag: member="nav_eq.c::acc_calibration_finished_flag" ref="gaa3b35b0b909a9a4b40d82658fab54349" args="" -->
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          <td class="memname">Bool <a class="el" href="group__tables.html#gaa3b35b0b909a9a4b40d82658fab54349">acc_calibration_finished_flag</a> = false</td>
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<p>Flag that is set to true when the calibration is finished. Must be set to false before the calibration is started. </p>

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<a class="anchor" id="gad5049be4d6ed3b9f92063c6ca6413b46"></a><!-- doxytag: member="nav_eq.c::acceleration_variance_threshold" ref="gad5049be4d6ed3b9f92063c6ca6413b46" args="" -->
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          <td class="memname"><a class="el" href="nav__types_8h.html#a37e1884b1f06826c49607cec459b4e8a">precision</a> <a class="el" href="group__tables.html#gad5049be4d6ed3b9f92063c6ca6413b46">acceleration_variance_threshold</a> = 0.002</td>
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<p>Threshold used to check that accelerometers were stationary during the calibration [ <img class="formulaInl" alt="$(m/s^2)^2$" src="form_18.png"/>]. </p>

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<a class="anchor" id="gaf92cab44915b7d9faaf5aeadb328bae6"></a><!-- doxytag: member="system_states.h::accelerations_in" ref="gaf92cab44915b7d9faaf5aeadb328bae6" args="" -->
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<p><img class="formulaInl" alt="$[m/s^2]$" src="form_13.png"/> </p>

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<a class="anchor" id="ga1089eea940f41eff26a6cba1172089e9"></a><!-- doxytag: member="system_states.h::accelerometer_biases" ref="ga1089eea940f41eff26a6cba1172089e9" args="" -->
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<p>Accelerometer biases (x,y,z-axis) [ <img class="formulaInl" alt="$m/s^2$" src="form_17.png"/>]. </p>

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<a class="anchor" id="ga8cac4b2812dcb492989d7122c5eb0bfb"></a><!-- doxytag: member="system_states.h::angular_rates_in" ref="ga8cac4b2812dcb492989d7122c5eb0bfb" args="" -->
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<p><img class="formulaInl" alt="$[rad/s]$" src="form_14.png"/> </p>

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<p><img class="formulaInl" alt="$[rad/s]$" src="form_14.png"/> </p>
<p>Angular rates read from the IMU [ <img class="formulaInl" alt="$rad/s$" src="form_22.png"/>]. These are written into the IMU data buffer. </p>

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<a class="anchor" id="ga74c09cdfc5b901e7f842dbe42ed8f4f4"></a><!-- doxytag: member="nav_eq.c::cov_vector" ref="ga74c09cdfc5b901e7f842dbe42ed8f4f4" args="" -->
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<p>Vector representation of the Kalman filter covariance matrix. </p>

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<p><img class="formulaInl" alt="$[V]$" src="form_16.png"/> </p>

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<p><img class="formulaInl" alt="$[V]$" src="form_16.png"/> </p>

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<p><img class="formulaInl" alt="$[^circ C]$" src="form_15.png"/> </p>

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<p><img class="formulaInl" alt="$[^circ C]$" src="form_15.png"/> </p>

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<a class="anchor" id="gac1df051c6f380aa8d1598b15ee9e6eca"></a><!-- doxytag: member="nav_eq.c::kalman_gain" ref="gac1df051c6f380aa8d1598b15ee9e6eca" args="" -->
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<p>Vector representation of the Kalman filter gain matrix. </p>

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<a class="anchor" id="ga128ad5d7538eef603b5f0dab9c42174b"></a><!-- doxytag: member="proc_func_info::max_proc_time" ref="ga128ad5d7538eef603b5f0dab9c42174b" args="" -->
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          <td class="memname">int <a class="el" href="group__tables.html#ga128ad5d7538eef603b5f0dab9c42174b">proc_func_info::max_proc_time</a></td>
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<a class="anchor" id="ga9340627920ea2445fe1469547bc64eae"></a><!-- doxytag: member="nav_eq.c::new_orientation_flag" ref="ga9340627920ea2445fe1469547bc64eae" args="" -->
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          <td class="memname">Bool <a class="el" href="group__tables.html#ga9340627920ea2445fe1469547bc64eae">new_orientation_flag</a> = false</td>
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<p>Flag that is set to true when the IMU should be place in a new orientation. Should be set to false when the calibration procedure is started, and when the IMU has been placed in a new orientation by the user. </p>

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<a class="anchor" id="ga642a3ad33a0242f4e12fe46a13b0303f"></a><!-- doxytag: member="nav_eq.c::nr_of_calibration_orientations" ref="ga642a3ad33a0242f4e12fe46a13b0303f" args="" -->
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          <td class="memname">uint8_t <a class="el" href="group__tables.html#ga642a3ad33a0242f4e12fe46a13b0303f">nr_of_calibration_orientations</a> = 6</td>
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<p>Number of orientations used in the accelerometer calibration procedure. OBS! Most be at least 3 and less than 13. </p>

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          <td class="memname">uint32_t <a class="el" href="group__tables.html#gab9d05ce5927a225127eff6993856da19">nr_of_calibration_samples</a> = 800</td>
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<p>Number of samples used at each orientation in the calibration procedure. </p>

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<a class="anchor" id="ga2807b9fb4b79e01dfde022b613d2575f"></a><!-- doxytag: member="system_states.h::position" ref="ga2807b9fb4b79e01dfde022b613d2575f" args="" -->
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          <td class="memname"><a class="el" href="nav__types_8h.html#a90c683614d896321009d3b3c401b764f">vec3</a> <a class="el" href="group__tables.html#ga2807b9fb4b79e01dfde022b613d2575f">position</a></td>
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<p>Position estimate (North,East,Down) [ <img class="formulaInl" alt="$m$" src="form_20.png"/>]. </p>

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<b>Initial value:</b><div class="fragment"><pre class="fragment"> {&amp;update_imu_data_buffers_info,
                                                                                                           &amp;initialize_navigation_algorithm_info,
                                                                                                           &amp;strapdown_mechanisation_equations_info,
                                                                                                           &amp;time_up_data_info,
                                                                                                           &amp;ZUPT_detector_info,
                                                                                                           &amp;zupt_update_info,
                                                                                                           &amp;precision_gyro_bias_null_calibration_info,
                                                                                                           &amp;calibrate_accelerometers_info}
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<p>Attitude (quaternions) estimate. </p>

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<p>Attitude (quaternions) estimate. </p>

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<p>Rotation matrix used as an "aiding" variable in the filter algorithm. Holds the same information as the quaternions. </p>

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<p>Velocity estimate (North,East,Down) [ <img class="formulaInl" alt="$m/s$" src="form_24.png"/>]. </p>

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<p>Velocity estimate (North,East,Down) [ <img class="formulaInl" alt="$m/s$" src="form_24.png"/>]. </p>

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<p>Flag that is set to true if a zero-velocity update should be done. </p>

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